Hyper-Jerk Analysis of Robot Manipulators

Gallardo-Alvarado, Jaime

doi:10.1007/s10846-013-9849-z

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Introduction 1 231

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2014

2024

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Cited by 11 publications

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“…Equation (6) was named by Rico and Duffy (1996) as the reduced acceleration state. After the publication of that theoretical paper, screw theory was recognized, unfortunately only by a reduced number of kinematicians, as a viable option to approach not only the acceleration analysis but also the jerk analysis (Rico et al, 1999) and the hyper-jerk analysis of robot manipulators (Gallardo-Alvarado, 2014). Equation (7) has been proved successfully in a wide variety of parallel manipulators.…”

Section: Introduction 1 23mentioning

confidence: 99%

Kinematics of an actuating mechanism for a telescoping antenna

Gallardo-Alvarado

Pérez-González

2015

ing.inv.

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In this work the position, velocity and acceleration analyses of a four-degrees-of-freedom serial manipulator are approached mainly by means of the theory of screws. Closed-form solutions are easily obtained for the displacement analysis of the mechanism owing the decoupled action of the generalized coordinates, while the input-output equations of velocity and acceleration of the manipulator are systematically obtained by means of the theory of screws. A case study is included with the purpose to exemplify the application of the method.

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Section: Introduction 1 23mentioning

confidence: 99%